GPS-INS RESAMPLING VERIFICATION Final Presentation Annual project (Part B) Winter semesterתש"ע ((2009 Students: Oren Hyatt, Alex Dutov Supervisor: Mony.

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GPS-INS RESAMPLING VERIFICATION Final Presentation Annual project (Part B) Winter semesterתש"ע ((2009 Students: Oren Hyatt, Alex Dutov Supervisor: Mony Orbach

Abstract  A GPS system isn’t fast enough, to meet updating requirements of high speed systems. The algorithm using GPS/INS system, coupled with an integrated particles filter, for error estimation, was developed by Prof. Yaakov Oshman and Mark Koifman, from the Aeronautics faculty of the Technion.  Part A of this project, deals with the implementation the resampling and regularization units, the algorithm uses. Those parts, were defined as a possible “bottle neck”, in terms of time constraints.  In this part (part B), the resampling was brought and verified using the Generic environment.

Project’s goal  Learning the complete system protocol and using it to work with Generic.  Resampling’s verification using Generic Environment.  Time requirements checking.  HW resources requirements checking.

Resampling Format’s Notation: X.YY.ZZZ ~ sign ; number ; fraction *see part A for more info W[0.0.28]Index_out[0.16.0] Reject insignificant particles. Duplicate remained particles, with respect to their relative weight.*

Generic  Generic Program is a testbench for GPS-INS system.  Provides input vectors and stores the results in.BIN file.  Allows to test all parts of the algorithm in different points of time.  Uses the same protocol for all parts of the algorithm.

Testing environment  IC1 – vhd that was created by ProcWizard for Frame1 and its.bdf file is used by Generic Program.  Frame1 – System main controler.  Generic – a testbench unit.  Resampling – our unit. IC1 Frame1 Generic Resampling

Test results (Generic vs Matlab) T=201 Number of indexes misplaced: 829

Summary  All the input vectors were successfully tested.  Error source were found (no HW bug, but accuracy difference between Generic and Matlab).  HW resources slightly increased (we still can manage it).  Because of a new controller and the Generic protocol frequency has been reduced (10 times), but it still meet real-time requirement.